class DoomTakeCoverEnv(doom_env.DoomEnv):
"""
------------ Training Mission 8 - Take Cover ------------
This map is to train you on the damage of incoming missiles.
It is a rectangular map with monsters firing missiles and fireballs
at you. You need to survive as long as possible.
Allowed actions:
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Several times per second - Survive as long as possible
Goal: 750 points
Survive for ~ 20 seconds
Ends when:
- Player is dead (one or two fireballs should be enough to kill you)
- Timeout (60 seconds - 2,100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomTakeCoverEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/take_cover.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('take_cover.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 2 allowed actions [9, 10] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 2),
np_random=np_random)
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3),
np_random=np_random)
return [seed1, seed2]
class DoomDefendCenterEnv(doom_env.DoomEnv):
"""
------------ Training Mission 3 - Defend the Center ------------
This map is designed to teach you how to kill and how to stay alive.
You will also need to keep an eye on your ammunition level. You are only
rewarded for kills, so figure out how to stay alive.
The map is a circle with monsters in the middle. Monsters will
respawn with additional health when killed. Kill as many as you can
before you run out of ammo.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
- 1 - Penalty for being killed
Goal: 10 points
Kill 10 monsters (you have 26 ammo)
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomDefendCenterEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/defend_the_center.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('defend_the_center.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
class DoomPredictPositionEnv(doom_env.DoomEnv):
"""
------------ Training Mission 7 - Predict Position ------------
This map is designed to train you on using a rocket launcher.
It is a rectangular map with a monster on the opposite side. You need
to use your rocket launcher to kill it. The rocket adds a delay between
the moment it is fired and the moment it reaches the other side of the room.
You need to predict the position of the monster to kill it.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
-0.0001 - Several times per second - Kill the monster faster!
Goal: 0.5 point
Kill the monster
Hint: Missile launcher takes longer to load. You must wait a good second after the game starts
before trying to fire it.
Ends when:
- Monster is dead
- Out of missile (you only have one)
- Timeout (20 seconds - 700 frames)
-----------------------------------------------------
"""
def __init__(self):
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/predict_position.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('predict_position.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomCorridorEnv(doom_env.DoomEnv):
"""
------------ Training Mission 2 - Corridor ------------
This map is designed to improve your navigation. There is a vest
at the end of the corridor, with 6 enemies (3 groups of 2). Your goal
is to get to the vest as soon as possible, without being killed.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ dX - For getting closer to the vest
- dX - For getting further from the vest
-100 - Penalty for being killed
Goal: 1,270 points
Reach the vest (try also killing guards, rather than just running)
Ends when:
- Player touches vest
- Player is dead
- Timeout (1 minutes - 2,100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomCorridorEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/deadly_corridor.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('deadly_corridor.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# action indexes are [0, 9, 10, 12, 13, 14]
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 6), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomHealthGatheringEnv(doom_env.DoomEnv):
"""
------------ Training Mission 5 - Health Gathering ------------
This map is a guide on how to survive by collecting health packs.
It is a rectangle with green, acidic floor which hurts the player
periodically. There are also medkits spread around the map, and
additional kits will spawn at interval.
Allowed actions:
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Several times per second - Survive as long as possible
-100 - Death penalty
Goal: 1000 points
Stay alive long enough to reach 1,000 points (~ 30 secs)
Ends when:
- Player is dead
- Timeout (60 seconds - 2,100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomHealthGatheringEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/health_gathering.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('health_gathering.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [12, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
class DoomDefendCenterEnv(doom_env.DoomEnv):
"""
------------ Training Mission 3 - Defend the Center ------------
This map is designed to teach you how to kill and how to stay alive.
You will also need to keep an eye on your ammunition level. You are only
rewarded for kills, so figure out how to stay alive.
The map is a circle with monsters in the middle. Monsters will
respawn with additional health when killed. Kill as many as you can
before you run out of ammo.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
- 1 - Penalty for being killed
Goal: 10 points
Kill 10 monsters (you have 26 ammo)
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomDefendCenterEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/defend_the_center.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('defend_the_center.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomBasicEnv(doom_env.DoomEnv):
"""
------------ Training Mission 1 - Basic ------------
This map is rectangular with gray walls, ceiling and floor.
You are spawned in the center of the longer wall, and a red
circular monster is spawned randomly on the opposite wall.
You need to kill the monster (one bullet is enough).
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
Note: see controls.md for details
Rewards:
+101 - Killing the monster
- 5 - Missing a shot
- 1 - Several times per second - Kill the monster faster!
Goal: 10 points
Kill the monster in 3 secs with 1 shot
Ends when:
- Monster is dead
- Player is dead
- Timeout (10 seconds - 350 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomBasicEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/basic.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('basic.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 3 allowed actions [0, 9, 10] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomDeathmatchEnv(doom_env.DoomEnv):
"""
------------ Final Mission - Deathmatch ------------
Kill as many monsters as possible without being killed.
Allowed actions:
ALL
Note: see controls.md for details
Rewards:
+1 - Killing a monster
Goal: 25 points
Kill 25 monsters without being killed
Ends when:
- Player is dead
- Timeout (3 minutes - 6,300 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomDeathmatchEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/deathmatch.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('deathmatch.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 41 allowed actions (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 37 +
[[0, 10, 0]] * 5),
np_random=np_random)
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3),
np_random=np_random)
return [seed1, seed2]
class DoomBasicEnv(doom_env.DoomEnv):
"""
------------ Training Mission 1 - Basic ------------
This map is rectangular with gray walls, ceiling and floor.
You are spawned in the center of the longer wall, and a red
circular monster is spawned randomly on the opposite wall.
You need to kill the monster (one bullet is enough).
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
Note: see controls.md for details
Rewards:
+101 - Killing the monster
- 5 - Missing a shot
- 1 - Several times per second - Kill the monster faster!
Goal: 10 points
Kill the monster in 3 secs with 1 shot
Ends when:
- Monster is dead
- Player is dead
- Timeout (10 seconds - 350 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomBasicEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/basic.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('basic.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [0, 9, 10] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
class DoomHealthGatheringEnv(doom_env.DoomEnv):
"""
------------ Training Mission 5 - Health Gathering ------------
This map is a guide on how to survive by collecting health packs.
It is a rectangle with green, acidic floor which hurts the player
periodically. There are also medkits spread around the map, and
additional kits will spawn at interval.
Allowed actions:
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Several times per second - Survive as long as possible
-100 - Death penalty
Goal: 1000 points
Stay alive long enough to reach 1,000 points (~ 30 secs)
Ends when:
- Player is dead
- Timeout (60 seconds - 2,100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomHealthGatheringEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/health_gathering.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('health_gathering.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 3 allowed actions [12, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomMyWayHomeEnv(doom_env.DoomEnv):
"""
------------ Training Mission 6 - My Way Home ------------
This map is designed to improve navigational skills. It is a series of
interconnected rooms and 1 corridor with a dead end. Each room
has a separate color. There is a green vest in one of the room.
The vest is always in the same room. Player must find the vest.
Allowed actions:
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Finding the vest
-0.0001 - Several times per second - Find the vest quick!
Goal: 0.50 point
Find the vest
Ends when:
- Vest is found
- Timeout (2 minutes - 4,200 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomMyWayHomeEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/my_way_home.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('my_way_home.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 3 allowed actions [12, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomPredictPositionEnv(doom_env.DoomEnv):
"""
------------ Training Mission 7 - Predict Position ------------
This map is designed to train you on using a rocket launcher.
It is a rectangular map with a monster on the opposite side. You need
to use your rocket launcher to kill it. The rocket adds a delay between
the moment it is fired and the moment it reaches the other side of the room.
You need to predict the position of the monster to kill it.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
-0.0001 - Several times per second - Kill the monster faster!
Goal: 0.5 point
Kill the monster
Hint: Missile launcher takes longer to load. You must wait a good second after the game starts
before trying to fire it.
Ends when:
- Monster is dead
- Out of missile (you only have one)
- Timeout (20 seconds - 700 frames)
-----------------------------------------------------
"""
def __init__(self):
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/predict_position.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('predict_position.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = doom_spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3))
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
class DoomTakeCoverEnv(doom_env.DoomEnv):
"""
------------ Training Mission 8 - Take Cover ------------
This map is to train you on the damage of incoming missiles.
It is a rectangular map with monsters firing missiles and fireballs
at you. You need to survive as long as possible.
Allowed actions:
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Several times per second - Survive as long as possible
Goal: 750 points
Survive for ~ 20 seconds
Ends when:
- Player is dead (one or two fireballs should be enough to kill you)
- Timeout (60 seconds - 2,100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomTakeCoverEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/take_cover.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('take_cover.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 2 allowed actions [9, 10] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 2), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomDefendLineEnv(doom_env.DoomEnv):
"""
------------ Training Mission 4 - Defend the Line ------------
This map is designed to teach you how to kill and how to stay alive.
Your ammo will automatically replenish. You are only rewarded for kills,
so figure out how to stay alive.
The map is a rectangle with monsters in the middle. Monsters will
respawn with additional health when killed. Kill as many as you can
before they kill you. This map is harder than the previous.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
- 1 - Penalty for being killed
Goal: 25 points
Kill 25 monsters
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomDefendLineEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/defend_the_line.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('defend_the_line.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
self.game.init()
self.game.new_episode()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
class DoomDefendLineEnv(doom_env.DoomEnv):
"""
------------ Training Mission 4 - Defend the Line ------------
This map is designed to teach you how to kill and how to stay alive.
Your ammo will automatically replenish. You are only rewarded for kills,
so figure out how to stay alive.
The map is a rectangle with monsters in the middle. Monsters will
respawn with additional health when killed. Kill as many as you can
before they kill you. This map is harder than the previous.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
- 1 - Penalty for being killed
Goal: 25 points
Kill 25 monsters
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomDefendLineEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/defend_the_line.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('defend_the_line.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3))
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
class DoomCorridorEnv(doom_env.DoomEnv):
"""
------------ Training Mission 2 - Corridor ------------
This map is designed to improve your navigation. There is a vest
at the end of the corridor, with 6 enemies (3 groups of 2). Your goal
is to get to the vest as soon as possible, without being killed.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ dX - For getting closer to the vest
- dX - For getting further from the vest
-100 - Penalty for being killed
Goal: 1,270 points
Reach the vest (try also killing guards, rather than just running)
Ends when:
- Player touches vest
- Player is dead
- Timeout (1 minutes - 2,100 frames)
-----------------------------------------------------
"""
def __init__(self):
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(
os.path.join(package_directory, 'assets/deadly_corridor.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(
self.loader.get_scenario_path('deadly_corridor.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
# action indexes are [0, 9, 10, 12, 13, 14]
self.action_space = doom_spaces.HighLow(np.matrix([[0, 1, 0]] * 6))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3))
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
class DoomMyWayHomeEnv(doom_env.DoomEnv):
"""
------------ Training Mission 6 - My Way Home ------------
This map is designed to improve navigational skills. It is a series of
interconnected rooms and 1 corridor with a dead end. Each room
has a separate color. There is a green vest in one of the room.
The vest is always in the same room. Player must find the vest.
Allowed actions:
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Finding the vest
-0.0001 - Several times per second - Find the vest quick!
Goal: 0.50 point
Find the vest
Ends when:
- Vest is found
- Timeout (2 minutes - 4,200 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomMyWayHomeEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/my_way_home.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('my_way_home.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [12, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
class DoomDeathmatchEnv(doom_env.DoomEnv):
"""
------------ Final Mission - Deathmatch ------------
Kill as many monsters as possible without being killed.
Allowed actions:
ALL
Note: see controls.md for details
Rewards:
+1 - Killing a monster
Goal: 25 points
Kill 25 monsters without being killed
Ends when:
- Player is dead
- Timeout (3 minutes - 6,300 frames)
-----------------------------------------------------
"""
def __init__(self):
super(DoomDeathmatchEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/deathmatch.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('deathmatch.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
self._seed()
def _seed(self, seed=None):
np_random, seed1 = seeding.np_random(seed)
# Derive a random seed.
seed2 = seeding.hash_seed(seed1 + 1) % 2**32
self.game.set_seed(seed2)
# 41 allowed actions (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 37 + [[0, 10, 0]] * 5), np_random=np_random)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3), np_random=np_random)
return [seed1, seed2]
class DoomEnv(gym.Env):
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 35}
def __init__(self, level):
self.previous_level = -1
self.level = level
self.game = DoomGame()
self.loader = Loader()
self.doom_dir = os.path.dirname(os.path.abspath(__file__))
self._mode = 'algo' # 'algo' or 'human'
self.no_render = False # To disable double rendering in human mode
self.viewer = None
self.is_initialized = False # Indicates that reset() has been called
self.curr_seed = 0
self.lock = (DoomLock()).get_lock()
self.action_space = spaces.MultiDiscrete([[0, 1]] * 38 + [[-10, 10]] * 2 + [[-100, 100]] * 3)
self.allowed_actions = list(range(NUM_ACTIONS))
self.screen_height = 480
self.screen_width = 640
self.screen_resolution = ScreenResolution.RES_640X480
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
self._configure()
def _configure(self, lock=None, **kwargs):
if 'screen_resolution' in kwargs:
logger.warn('Deprecated - Screen resolution must now be set using a wrapper. See documentation for details.')
# Multiprocessing lock
if lock is not None:
self.lock = lock
def _load_level(self):
# Closing if is_initialized
if self.is_initialized:
self.is_initialized = False
self.game.close()
self.game = DoomGame()
# Customizing level
if getattr(self, '_customize_game', None) is not None and callable(self._customize_game):
self.level = -1
self._customize_game()
else:
# Loading Paths
if not self.is_initialized:
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
# Common settings
self.game.load_config(os.path.join(self.doom_dir, 'assets/%s' % DOOM_SETTINGS[self.level][CONFIG]))
self.game.set_doom_scenario_path(self.loader.get_scenario_path(DOOM_SETTINGS[self.level][SCENARIO]))
if DOOM_SETTINGS[self.level][MAP] != '':
self.game.set_doom_map(DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_skill(DOOM_SETTINGS[self.level][DIFFICULTY])
self.allowed_actions = DOOM_SETTINGS[self.level][ACTIONS]
self.game.set_screen_resolution(self.screen_resolution)
self.previous_level = self.level
self._closed = False
# Algo mode
if 'human' != self._mode:
self.game.set_window_visible(False)
self.game.set_mode(Mode.PLAYER)
self.no_render = False
try:
with self.lock:
self.game.init()
except (ViZDoomUnexpectedExitException, ViZDoomErrorException):
raise error.Error(
'VizDoom exited unexpectedly. This is likely caused by a missing multiprocessing lock. ' +
'To run VizDoom across multiple processes, you need to pass a lock when you configure the env ' +
'[e.g. env.configure(lock=my_multiprocessing_lock)], or create and close an env ' +
'before starting your processes [e.g. env = gym.make("DoomBasic-v0"); env.close()] to cache a ' +
'singleton lock in memory.')
self._start_episode()
self.is_initialized = True
return self.game.get_state().image_buffer.copy()
# Human mode
else:
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.no_render = True
with self.lock:
self.game.init()
self._start_episode()
self.is_initialized = True
self._play_human_mode()
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def _start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.curr_seed = 0
self.game.new_episode()
return
def _play_human_mode(self):
while not self.game.is_episode_finished():
self.game.advance_action()
state = self.game.get_state()
total_reward = self.game.get_total_reward()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) + '\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def _step(self, action):
if NUM_ACTIONS != len(action):
logger.warn('Doom action list must contain %d items. Padding missing items with 0' % NUM_ACTIONS)
old_action = action
action = [0] * NUM_ACTIONS
for i in range(len(old_action)):
action[i] = old_action[i]
# action is a list of numbers but DoomGame.make_action expects a list of ints
if len(self.allowed_actions) > 0:
list_action = [int(action[action_idx]) for action_idx in self.allowed_actions]
else:
list_action = [int(x) for x in action]
try:
reward = self.game.make_action(list_action)
state = self.game.get_state()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
if self.game.is_episode_finished():
is_finished = True
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), reward, is_finished, info
else:
is_finished = False
return state.image_buffer.copy(), reward, is_finished, info
except doom_py.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), 0, True, {}
def _reset(self):
if self.is_initialized and not self._closed:
self._start_episode()
image_buffer = self.game.get_state().image_buffer
if image_buffer is None:
raise error.Error(
'VizDoom incorrectly initiated. This is likely caused by a missing multiprocessing lock. ' +
'To run VizDoom across multiple processes, you need to pass a lock when you configure the env ' +
'[e.g. env.configure(lock=my_multiprocessing_lock)], or create and close an env ' +
'before starting your processes [e.g. env = gym.make("DoomBasic-v0"); env.close()] to cache a ' +
'singleton lock in memory.')
return image_buffer.copy()
else:
return self._load_level()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None # If we don't None out this reference pyglet becomes unhappy
return
try:
if 'human' == mode and self.no_render:
return
state = self.game.get_state()
img = state.image_buffer
# VizDoom returns None if the episode is finished, let's make it
# an empty image so the recorder doesn't stop
if img is None:
img = np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode is 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
except doom_py.vizdoom.ViZDoomIsNotRunningException:
pass # Doom has been closed
def _close(self):
# Lock required for VizDoom to close processes properly
with self.lock:
self.game.close()
def _seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2 ** 32
return [self.curr_seed]
def _get_game_variables(self, state_variables):
info = {
"LEVEL": self.level
}
if state_variables is None:
return info
info['KILLCOUNT'] = state_variables[0]
info['ITEMCOUNT'] = state_variables[1]
info['SECRETCOUNT'] = state_variables[2]
info['FRAGCOUNT'] = state_variables[3]
info['HEALTH'] = state_variables[4]
info['ARMOR'] = state_variables[5]
info['DEAD'] = state_variables[6]
info['ON_GROUND'] = state_variables[7]
info['ATTACK_READY'] = state_variables[8]
info['ALTATTACK_READY'] = state_variables[9]
info['SELECTED_WEAPON'] = state_variables[10]
info['SELECTED_WEAPON_AMMO'] = state_variables[11]
info['AMMO1'] = state_variables[12]
info['AMMO2'] = state_variables[13]
info['AMMO3'] = state_variables[14]
info['AMMO4'] = state_variables[15]
info['AMMO5'] = state_variables[16]
info['AMMO6'] = state_variables[17]
info['AMMO7'] = state_variables[18]
info['AMMO8'] = state_variables[19]
info['AMMO9'] = state_variables[20]
info['AMMO0'] = state_variables[21]
return info
class DoomEnv(gym.Env, utils.EzPickle):
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 35}
def __init__(self, level):
utils.EzPickle.__init__(self)
self.previous_level = -1
self.level = level
self.game = DoomGame()
self.loader = Loader()
self.doom_dir = os.path.dirname(os.path.abspath(__file__))
self.mode = 'fast' # 'human', 'fast' or 'normal'
self.no_render = False # To disable double rendering in human mode
self.viewer = None
self.is_initialized = False # Indicates that reset() has been called
self.curr_seed = 0
self.action_space = spaces.HighLow(
np.matrix([[0, 1, 0]] * 38 + [[-10, 10, 0]] * 2 + [[-100, 100, 0]] * 3, dtype=np.int8))
self.allowed_actions = list(range(NUM_ACTIONS))
self._seed()
self._configure()
def _configure(self, screen_resolution=ScreenResolution.RES_640X480):
# Often agents end up downsampling the observations. Configuring Doom to
# return a smaller image yields significant (~10x) speedups
if screen_resolution == ScreenResolution.RES_640X480:
self.screen_height = 480
self.screen_width = 640
self.screen_resolution = ScreenResolution.RES_640X480
elif screen_resolution == ScreenResolution.RES_160X120:
self.screen_height = 120
self.screen_width = 160
self.screen_resolution = ScreenResolution.RES_160X120
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
def _load_level(self):
# Closing if is_initialized
if self.is_initialized:
self.is_initialized = False
self.game.close()
self.game = DoomGame()
# Loading Paths
if not self.is_initialized:
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
# Common settings
self._closed = False
self.game.load_config(os.path.join(self.doom_dir, 'assets/%s' % DOOM_SETTINGS[self.level][CONFIG]))
self.game.set_doom_scenario_path(self.loader.get_scenario_path(DOOM_SETTINGS[self.level][SCENARIO]))
if DOOM_SETTINGS[self.level][MAP] != '':
self.game.set_doom_map(DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_skill(DOOM_SETTINGS[self.level][DIFFICULTY])
self.previous_level = self.level
self.allowed_actions = DOOM_SETTINGS[self.level][ACTIONS]
self.game.set_screen_resolution(self.screen_resolution)
# Algo mode
if 'human' != self.mode:
self.game.set_window_visible(False)
self.game.set_mode(Mode.PLAYER)
self.no_render = False
self.game.init()
self._start_episode()
self.is_initialized = True
return self.game.get_state().image_buffer.copy()
# Human mode
else:
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.no_render = True
self.game.init()
self._start_episode()
self.is_initialized = True
self._play_human_mode()
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def _start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.curr_seed = 0
self.game.new_episode()
return
def _play_human_mode(self):
while not self.game.is_episode_finished():
self.game.advance_action()
state = self.game.get_state()
total_reward = self.game.get_total_reward()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) + '\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def _step(self, action):
if NUM_ACTIONS != len(action):
logger.warn('Doom action list must contain %d items. Padding missing items with 0' % NUM_ACTIONS)
old_action = action
action = [0] * NUM_ACTIONS
for i in range(len(old_action)):
action[i] = old_action[i]
# action is a list of numbers but DoomGame.make_action expects a list of ints
if len(self.allowed_actions) > 0:
list_action = [int(action[action_idx]) for action_idx in self.allowed_actions]
else:
list_action = [int(x) for x in action]
try:
reward = self.game.make_action(list_action)
state = self.game.get_state()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
if self.game.is_episode_finished():
is_finished = True
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), reward, is_finished, info
else:
is_finished = False
return state.image_buffer.copy(), reward, is_finished, info
except doom_py.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), 0, True, {}
def _reset(self):
if self.is_initialized and not self._closed:
self._start_episode()
return self.game.get_state().image_buffer.copy()
else:
return self._load_level()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None # If we don't None out this reference pyglet becomes unhappy
return
try:
if 'human' == mode and self.no_render:
return
state = self.game.get_state()
img = state.image_buffer
# VizDoom returns None if the episode is finished, let's make it
# an empty image so the recorder doesn't stop
if img is None:
img = np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode is 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
if 'normal' == self.mode:
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
except doom_py.vizdoom.ViZDoomIsNotRunningException:
pass # Doom has been closed
def _close(self):
self.game.close()
def _seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2 ** 32
return [self.curr_seed]
def _get_game_variables(self, state_variables):
info = {
"LEVEL": self.level
}
if state_variables is None:
return info
info['KILLCOUNT'] = state_variables[0]
info['ITEMCOUNT'] = state_variables[1]
info['SECRETCOUNT'] = state_variables[2]
info['FRAGCOUNT'] = state_variables[3]
info['HEALTH'] = state_variables[4]
info['ARMOR'] = state_variables[5]
info['DEAD'] = state_variables[6]
info['ON_GROUND'] = state_variables[7]
info['ATTACK_READY'] = state_variables[8]
info['ALTATTACK_READY'] = state_variables[9]
info['SELECTED_WEAPON'] = state_variables[10]
info['SELECTED_WEAPON_AMMO'] = state_variables[11]
info['AMMO1'] = state_variables[12]
info['AMMO2'] = state_variables[13]
info['AMMO3'] = state_variables[14]
info['AMMO4'] = state_variables[15]
info['AMMO5'] = state_variables[16]
info['AMMO6'] = state_variables[17]
info['AMMO7'] = state_variables[18]
info['AMMO8'] = state_variables[19]
info['AMMO9'] = state_variables[20]
info['AMMO0'] = state_variables[21]
return info
class DoomEnv(gym.Env, utils.EzPickle):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': 35
}
def __init__(self, level):
utils.EzPickle.__init__(self)
self.previous_level = -1
self.level = level
self.game = DoomGame()
self.loader = Loader()
self.doom_dir = os.path.dirname(os.path.abspath(__file__))
self.mode = 'fast' # 'human', 'fast' or 'normal'
self.no_render = False # To disable double rendering in human mode
self.viewer = None
self.is_initialized = False # Indicates that reset() has been called
self.find_new_level = False # Indicates that we need a level change
self.curr_seed = 0
self.screen_height = 480
self.screen_width = 640
self.action_space = spaces.HighLow(
np.matrix([[0, 1, 0]] * 38 + [[-10, 10, 0]] * 2 +
[[-100, 100, 0]] * 3,
dtype=np.int8))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3))
self.allowed_actions = list(range(NUM_ACTIONS))
def _load_level(self):
# Closing if is_initialized
if self.is_initialized:
self.is_initialized = False
self.game.close()
self.game = DoomGame()
# Loading Paths
if not self.is_initialized:
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
# Common settings
self._closed = False
self.game.load_config(
os.path.join(self.doom_dir,
'assets/%s' % DOOM_SETTINGS[self.level][CONFIG]))
self.game.set_doom_scenario_path(
self.loader.get_scenario_path(DOOM_SETTINGS[self.level][SCENARIO]))
if DOOM_SETTINGS[self.level][MAP] != '':
self.game.set_doom_map(DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_skill(DOOM_SETTINGS[self.level][DIFFICULTY])
self.previous_level = self.level
self.allowed_actions = DOOM_SETTINGS[self.level][ACTIONS]
# Algo mode
if 'human' != self.mode:
self.game.set_window_visible(False)
self.game.set_mode(Mode.PLAYER)
self.no_render = False
self.game.init()
self._start_episode()
self.is_initialized = True
return self.game.get_state().image_buffer.copy()
# Human mode
else:
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.no_render = True
self.game.init()
self._start_episode()
self.is_initialized = True
self._play_human_mode()
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def _start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.curr_seed = 0
self.game.new_episode()
return
def _play_human_mode(self):
while not self.game.is_episode_finished():
self.game.advance_action()
state = self.game.get_state()
total_reward = self.game.get_total_reward()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) +
'\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def _step(self, action):
if NUM_ACTIONS != len(action):
logger.warn(
'Doom action list must contain %d items. Padding missing items with 0'
% NUM_ACTIONS)
old_action = action
action = [0] * NUM_ACTIONS
for i in range(len(old_action)):
action[i] = old_action[i]
# action is a list of numbers but DoomGame.make_action expects a list of ints
if len(self.allowed_actions) > 0:
list_action = [
int(action[action_idx]) for action_idx in self.allowed_actions
]
else:
list_action = [int(x) for x in action]
try:
reward = self.game.make_action(list_action)
state = self.game.get_state()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
if self.game.is_episode_finished():
is_finished = True
return np.zeros(shape=self.observation_space.shape,
dtype=np.uint8), reward, is_finished, info
else:
is_finished = False
return state.image_buffer.copy(), reward, is_finished, info
except doom_py.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape,
dtype=np.uint8), 0, True, {}
def _reset(self):
if self.is_initialized and not self._closed:
self._start_episode()
return self.game.get_state().image_buffer.copy()
else:
return self._load_level()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None # If we don't None out this reference pyglet becomes unhappy
return
try:
if 'human' == mode and self.no_render: return
state = self.game.get_state()
img = state.image_buffer
# VizDoom returns None if the episode is finished, let's make it
# an empty image so the recorder doesn't stop
if img is None:
img = np.zeros(shape=self.observation_space.shape,
dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode is 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
if 'normal' == self.mode:
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
except doom_py.vizdoom.ViZDoomIsNotRunningException:
pass # Doom has been closed
def _close(self):
self.game.close()
def _seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2**32
return [self.curr_seed]
def _get_game_variables(self, state_variables):
info = {}
info["LEVEL"] = self.level
if state_variables is None: return info
info['KILLCOUNT'] = state_variables[0]
info['ITEMCOUNT'] = state_variables[1]
info['SECRETCOUNT'] = state_variables[2]
info['FRAGCOUNT'] = state_variables[3]
info['HEALTH'] = state_variables[4]
info['ARMOR'] = state_variables[5]
info['DEAD'] = state_variables[6]
info['ON_GROUND'] = state_variables[7]
info['ATTACK_READY'] = state_variables[8]
info['ALTATTACK_READY'] = state_variables[9]
info['SELECTED_WEAPON'] = state_variables[10]
info['SELECTED_WEAPON_AMMO'] = state_variables[11]
info['AMMO1'] = state_variables[12]
info['AMMO2'] = state_variables[13]
info['AMMO3'] = state_variables[14]
info['AMMO4'] = state_variables[15]
info['AMMO5'] = state_variables[16]
info['AMMO6'] = state_variables[17]
info['AMMO7'] = state_variables[18]
info['AMMO8'] = state_variables[19]
info['AMMO9'] = state_variables[20]
info['AMMO0'] = state_variables[21]
return info
class DoomEnv(gym.Env):
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 35}
def __init__(self, level):
self.previous_level = -1
self.level = level
self.game = DoomGame()
self.loader = Loader()
self.doom_dir = os.path.dirname(os.path.abspath(__file__))
self._mode = 'algo' # 'algo' or 'human'
self.no_render = False # To disable double rendering in human mode
self.viewer = None
self.is_initialized = False # Indicates that reset() has been called
self.curr_seed = 0
self.lock = (DoomLock()).get_lock()
self.action_space = spaces.MultiDiscrete([[0, 1]] * 38 + [[-10, 10]] * 2 + [[-100, 100]] * 3)
self.allowed_actions = list(range(NUM_ACTIONS))
self.screen_height = 480
self.screen_width = 640
self.screen_resolution = ScreenResolution.RES_640X480
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
self._configure()
def _configure(self, lock=None, **kwargs):
if 'screen_resolution' in kwargs:
logger.warn('Deprecated - Screen resolution must now be set using a wrapper. See documentation for details.')
# Multiprocessing lock
if lock is not None:
self.lock = lock
def _load_level(self):
# Closing if is_initialized
if self.is_initialized:
self.is_initialized = False
self.game.close()
self.game = DoomGame()
# Customizing level
if getattr(self, '_customize_game', None) is not None and callable(self._customize_game):
self.level = -1
self._customize_game()
else:
# Loading Paths
if not self.is_initialized:
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
# Common settings
self.game.load_config(os.path.join(self.doom_dir, 'assets/%s' % DOOM_SETTINGS[self.level][CONFIG]))
if self.level == 9 or self.level == 10:
# Load modified wad.
self.game.set_doom_scenario_path(os.path.join('/opt/app/takecover_variants/assets', DOOM_SETTINGS[self.level][SCENARIO]))
else:
self.game.set_doom_scenario_path(self.loader.get_scenario_path(DOOM_SETTINGS[self.level][SCENARIO]))
if DOOM_SETTINGS[self.level][MAP] != '':
self.game.set_doom_map(DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_skill(DOOM_SETTINGS[self.level][DIFFICULTY])
self.allowed_actions = DOOM_SETTINGS[self.level][ACTIONS]
self.game.set_screen_resolution(self.screen_resolution)
self.previous_level = self.level
self._closed = False
# Algo mode
if 'human' != self._mode:
self.game.set_window_visible(False)
self.game.set_mode(Mode.PLAYER)
self.no_render = False
try:
with self.lock:
self.game.init()
except (ViZDoomUnexpectedExitException, ViZDoomErrorException):
raise error.Error(
'VizDoom exited unexpectedly. This is likely caused by a missing multiprocessing lock. ' +
'To run VizDoom across multiple processes, you need to pass a lock when you configure the env ' +
'[e.g. env.configure(lock=my_multiprocessing_lock)], or create and close an env ' +
'before starting your processes [e.g. env = gym.make("DoomBasic-v0"); env.close()] to cache a ' +
'singleton lock in memory.')
self._start_episode()
self.is_initialized = True
return self.game.get_state().image_buffer.copy()
# Human mode
else:
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.no_render = True
with self.lock:
self.game.init()
self._start_episode()
self.is_initialized = True
self._play_human_mode()
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def _start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.curr_seed = 0
self.game.new_episode()
return
def _play_human_mode(self):
while not self.game.is_episode_finished():
self.game.advance_action()
state = self.game.get_state()
total_reward = self.game.get_total_reward()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) + '\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def _step(self, action):
if NUM_ACTIONS != len(action):
logger.warn('Doom action list must contain %d items. Padding missing items with 0' % NUM_ACTIONS)
old_action = action
action = [0] * NUM_ACTIONS
for i in range(len(old_action)):
action[i] = old_action[i]
# action is a list of numbers but DoomGame.make_action expects a list of ints
if len(self.allowed_actions) > 0:
list_action = [int(action[action_idx]) for action_idx in self.allowed_actions]
else:
list_action = [int(x) for x in action]
try:
reward = self.game.make_action(list_action)
state = self.game.get_state()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
if self.game.is_episode_finished():
is_finished = True
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), reward, is_finished, info
else:
is_finished = False
return state.image_buffer.copy(), reward, is_finished, info
except doom_py.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), 0, True, {}
def _reset(self):
if self.is_initialized and not self._closed:
self._start_episode()
image_buffer = self.game.get_state().image_buffer
if image_buffer is None:
raise error.Error(
'VizDoom incorrectly initiated. This is likely caused by a missing multiprocessing lock. ' +
'To run VizDoom across multiple processes, you need to pass a lock when you configure the env ' +
'[e.g. env.configure(lock=my_multiprocessing_lock)], or create and close an env ' +
'before starting your processes [e.g. env = gym.make("DoomBasic-v0"); env.close()] to cache a ' +
'singleton lock in memory.')
return image_buffer.copy()
else:
return self._load_level()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None # If we don't None out this reference pyglet becomes unhappy
return
try:
if 'human' == mode and self.no_render:
return
state = self.game.get_state()
img = state.image_buffer
# VizDoom returns None if the episode is finished, let's make it
# an empty image so the recorder doesn't stop
if img is None:
img = np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode is 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
except doom_py.vizdoom.ViZDoomIsNotRunningException:
pass # Doom has been closed
def _close(self):
# Lock required for VizDoom to close processes properly
with self.lock:
self.game.close()
def _seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2 ** 32
return [self.curr_seed]
def _get_game_variables(self, state_variables):
info = {
"LEVEL": self.level
}
if state_variables is None:
return info
info['KILLCOUNT'] = state_variables[0]
info['ITEMCOUNT'] = state_variables[1]
info['SECRETCOUNT'] = state_variables[2]
info['FRAGCOUNT'] = state_variables[3]
info['HEALTH'] = state_variables[4]
info['ARMOR'] = state_variables[5]
info['DEAD'] = state_variables[6]
info['ON_GROUND'] = state_variables[7]
info['ATTACK_READY'] = state_variables[8]
info['ALTATTACK_READY'] = state_variables[9]
info['SELECTED_WEAPON'] = state_variables[10]
info['SELECTED_WEAPON_AMMO'] = state_variables[11]
info['AMMO1'] = state_variables[12]
info['AMMO2'] = state_variables[13]
info['AMMO3'] = state_variables[14]
info['AMMO4'] = state_variables[15]
info['AMMO5'] = state_variables[16]
info['AMMO6'] = state_variables[17]
info['AMMO7'] = state_variables[18]
info['AMMO8'] = state_variables[19]
info['AMMO9'] = state_variables[20]
info['AMMO0'] = state_variables[21]
return info